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VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics

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MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
This commit is contained in:
Silvan Fuhrer
2023-03-16 11:55:45 +01:00
committed by Beat Küng
parent bcd6e7adee
commit b16f16598b
47 changed files with 332 additions and 549 deletions
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src/modules/airship_att_control/airship_att_control.hpp
-5
View File
@@ -37,7 +37,6 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_angular_velocity.h>
@@ -77,8 +76,6 @@ private:
*/
void parameter_update_poll();
void publish_actuator_controls();
void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
@@ -88,13 +85,11 @@ private:
uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
uORB::Publication<actuator_controls_s> _actuator_controls_0_pub;
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
manual_control_setpoint_s _manual_control_setpoint{};
vehicle_status_s _vehicle_status{};
actuator_controls_s _actuator_controls{};
perf_counter_t _loop_perf;
src/modules/airship_att_control/airship_att_control_main.cpp
+12 -34
View File
@@ -45,7 +45,6 @@ using namespace matrix;
AirshipAttitudeControl::AirshipAttitudeControl() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_actuator_controls_0_pub(ORB_ID(actuator_controls_0)),
_loop_perf(perf_alloc(PC_ELAPSED, "airship_att_control"))
{
}
@@ -80,36 +79,18 @@ AirshipAttitudeControl::parameter_update_poll()
}
}
void
AirshipAttitudeControl::publish_actuator_controls()
{
// zero actuators if not armed
if (_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
for (uint8_t i = 0 ; i < 4 ; i++) {
_actuator_controls.control[i] = 0.0f;
}
} else {
_actuator_controls.control[0] = 0.0f;
_actuator_controls.control[1] = _manual_control_setpoint.pitch;
_actuator_controls.control[2] = _manual_control_setpoint.yaw;
_actuator_controls.control[3] = (_manual_control_setpoint.throttle + 1.f) * .5f;
}
// note: _actuator_controls.timestamp_sample is set in AirshipAttitudeControl::Run()
_actuator_controls.timestamp = hrt_absolute_time();
_actuator_controls_0_pub.publish(_actuator_controls);
}
void AirshipAttitudeControl::publishTorqueSetpoint(const hrt_abstime &timestamp_sample)
{
vehicle_torque_setpoint_s v_torque_sp = {};
v_torque_sp.timestamp = hrt_absolute_time();
v_torque_sp.timestamp_sample = timestamp_sample;
v_torque_sp.xyz[0] = _actuator_controls.control[0];
v_torque_sp.xyz[1] = _actuator_controls.control[1];
v_torque_sp.xyz[2] = _actuator_controls.control[2];
// zero actuators if not armed
if (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
v_torque_sp.xyz[0] = 0.f;
v_torque_sp.xyz[1] = _manual_control_setpoint.pitch;
v_torque_sp.xyz[2] = _manual_control_setpoint.yaw;
}
_vehicle_torque_setpoint_pub.publish(v_torque_sp);
}
@@ -119,9 +100,11 @@ void AirshipAttitudeControl::publishThrustSetpoint(const hrt_abstime &timestamp_
vehicle_thrust_setpoint_s v_thrust_sp = {};
v_thrust_sp.timestamp = hrt_absolute_time();
v_thrust_sp.timestamp_sample = timestamp_sample;
v_thrust_sp.xyz[0] = _actuator_controls.control[3];
v_thrust_sp.xyz[1] = 0.0f;
v_thrust_sp.xyz[2] = 0.0f;
// zero actuators if not armed
if (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
v_thrust_sp.xyz[0] = (_manual_control_setpoint.throttle + 1.f) * .5f;
}
_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
}
@@ -142,10 +125,7 @@ AirshipAttitudeControl::Run()
if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
_actuator_controls.timestamp_sample = angular_velocity.timestamp_sample;
/* run the rate controller immediately after a gyro update */
publish_actuator_controls();
publishTorqueSetpoint(angular_velocity.timestamp_sample);
publishThrustSetpoint(angular_velocity.timestamp_sample);
@@ -190,8 +170,6 @@ int AirshipAttitudeControl::print_status()
perf_print_counter(_loop_perf);
print_message(ORB_ID(actuator_controls_0), _actuator_controls);
return 0;
}